CN107364795A - A kind of automatic cabinet lifting case number (CN) is taken pictures identification device and its control method - Google Patents
A kind of automatic cabinet lifting case number (CN) is taken pictures identification device and its control method Download PDFInfo
- Publication number
- CN107364795A CN107364795A CN201710723599.5A CN201710723599A CN107364795A CN 107364795 A CN107364795 A CN 107364795A CN 201710723599 A CN201710723599 A CN 201710723599A CN 107364795 A CN107364795 A CN 107364795A
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- retractor device
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- detection sensor
- horizontal
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000004888 barrier function Effects 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 38
- 230000007246 mechanism Effects 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000013480 data collection Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic cabinet lifting case number (CN) to take pictures identification device and its control method, automatic cabinet lifting case number (CN) identification device of taking pictures includes the manipulator retractor device being fixedly connected on a certain F TR locks of container special hoisting bar, is fixed on manipulator retractor device the camera and controller of the identification that is used to container number take pictures.The present invention is stretched out camera by manipulator retractor device after container F TR locks are fixed carries out identification of taking pictures to case number (CN), whole process carries out automation mechanized operation using controller, case number (CN) identification is quick, and manipulator retractor device is provided with obstacle avoidance system, avoid manipulator retractor device and camera and barrier from colliding to cause to damage, the trouble-free operation for the identification device that ensures to take pictures.
Description
Technical field
The present invention relates to container unloading lifting field, specifically a kind of automatic cabinet lifting case number (CN), which is taken pictures, identifies dress
Put and its control method.
Background technology
At present, in order to pack the stability of container hanging, F-TR locked grooves, collection can be set in eight corners of container
Four F-TR locked grooves of vanning bottom are connected with F-TR tapered ends on transport vehicle, ensure smooth transport, four F- on container top
TR locked grooves are connected with four F-TR locks of container special hoisting bar, realize steady lifting.At present, for convenience to container
Identification, each container have a container number and container ISO, to facilitate record container in transportation
State.It is to use artificial record or obtain container character by monitor video and do to remember that existing container, which knows method for distinguishing,
Record, its shortcoming are that cost of labor is high, operating efficiency is low and manually makes a copy of error-prone mistake.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of automatic cabinet lifting case number (CN) take pictures identification device and its
Control method, camera is stretched out by manipulator retractor device after container F-TR locks are fixed knowledge of taking pictures is carried out to case number (CN)
Not, whole process automation mechanized operation, case number (CN) identification are quick.
The technical scheme is that：
A kind of automatic cabinet lifting case number (CN) is taken pictures identification device, is included and is fixedly connected on container special hoisting bar
Manipulator retractor device on one F-TR locks, it is fixed on manipulator retractor device and is used to carry out knowledge of taking pictures to container number
Other camera and controller；Described manipulator retractor device includes horizontal extension electric pushrod and vertical telescopic is electronic pushes away
Bar, the outer end of horizontal extension electric pushrod extend the periphery of container special hoisting bar, and the top of vertical telescopic electric pushrod is consolidated
Surely it is connected on the outer end of horizontal extension electric pushrod, the inner of horizontal extension electric pushrod is fixedly connected on container Special-purpose hanger
On a certain F-TR locks of frame, described camera is fixed on the bottom of vertical telescopic electric pushrod；Described vertical telescopic is electronic
It is fixed with to detect towards the horizontal range detection sensor of horizontal side and vertical range downward on the bottom of push rod and passes
Sensor, travel switch, the detection of described horizontal range are provided with all F-TR locks of described container special hoisting bar
Sensor, vertical range detection sensor, travel switch, the drive mechanism of horizontal extension electric pushrod, vertical telescopic is electronic pushes away
The drive mechanism of bar, camera are connected with controller.
The a certain F-TR locks of container special hoisting bar of described manipulator retractor device are fixedly connected with adjacent to container
The one side of case number (CN) is indicated, and described manipulator retractor device is fixedly connected on the lateral wall of corresponding F-TR locks, and it is adjacent
Another F-TR locks for the one side that nearly container indicates case number (CN) are connected with manipulator retractor device relative to a certain F-TR locks
Lateral wall.
Described manipulator retractor device also includes the high-power electric rotating machine being connected with controller, and described is high-power
Electric rotating machine is fixedly connected on a certain F-TR locks of container special hoisting bar, horizontal extension electric pushrod it is inner with it is high-power
The rotation axis connection of electric rotating machine.
The power supply of the drive mechanism of described horizontal extension electric pushrod and the drive mechanism of vertical telescopic electric pushrod is equal
Accessed by waterproof aviation plug.
Warning device is connected with described controller.
A kind of automatic cabinet lifting case number (CN) take pictures identification device control method, first container special hoisting bar institute
There is the connection corresponding with all F-TR locked grooves of container of F-TR locks, now travel switch contact closure, controller receives stroke
After the signal of switch contact closure, with reference to horizontal range detection sensor, the signal of vertical range detection sensor collection, it is determined that
Whether stretch out manipulator retractor device and carry out identification of taking pictures；When horizontal range detection sensor detects manipulator retractor device
There are barrier or/and vertical range detection sensor to detect setting below manipulator retractor device in the horizontal range of setting
When having barrier in vertical range, driving manipulator retractor device is not stretched out controller；When horizontal range detection sensor
Detect that no barrier or vertical range detection sensor detect machinery in the horizontal range of manipulator retractor device setting
When not having barrier in the vertical range of setting below hand retractor device, controller driving manipulator retractor device is horizontal and vertical
Extend downwardly from, after the completion of manipulator retractor device is flexible, controller control video camera carries out container number and taken pictures identification, bat
According to after the completion of, controller driving manipulator retractor device is retracted, and is completed a case number (CN) and is taken pictures identification process.
When described manipulator retractor device is horizontal and vertical to be extended downwardly from, the detection of horizontal range detection sensor
There are barrier, vertical range detection sensor to detect the flexible dress of manipulator in the horizontal range of manipulator retractor device setting
Putting in the vertical range of lower section setting has barrier or/and travel switch to separate when disconnecting, the flexible dress of controller driving manipulator
It is to force to withdraw to put fast retractile and carry out warning reminding manipulator by warning device.
Advantages of the present invention：
The present invention manipulator retractor device be provided with obstacle avoidance system, i.e., by gather horizontally and vertically whether
There is barrier and carry out IMAQ to decide whether to stretch out, avoid manipulator retractor device and camera from being collided with barrier and cause
Damage, ensure the trouble-free operation of identification device of taking pictures；The present invention determines what container F-TR lock connections were completed by travel switch
State, after the completion of being located by connecting, control machinery hand retractor device and camera realize corresponding action to controller again, ensure water
The accuracy of gentle vertical range detection sensor collection location data；The travel switch of the present invention, horizontal and vertical distance inspection
Survey sensor and gathered data is sent to controller in real time, controller is according to real-time data collection control machinery hand retractor device
Motion, avoid colliding unexpected occur in operation.
Brief description of the drawings
Fig. 1 is the schematic diagram of manipulator retractor device installation site of the present invention.
Fig. 2 is the structural representation that container special hoisting bar of the present invention is located by connecting with container.
Fig. 3 is the attachment structure schematic diagram of manipulator retractor device and camera of the present invention.
Fig. 4 is the location state diagram of operation of the embodiment of the present invention.
Fig. 5 is the control principle block diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
See Fig. 1-Fig. 5, a kind of automatic cabinet lifting case number (CN) is taken pictures identification device, is included and is fixedly connected on container
Manipulator retractor device 3 on a certain F-TR locks 2 of special hoisting bar 1, it is fixed on manipulator retractor device 3 and is used for container
Case number (CN) take pictures the camera 4 and controller 5 of identification；Manipulator retractor device 3 includes high-power electric rotating machine 31, level
Telescopic electric push rod 32 and vertical telescopic electric pushrod 33, the outer end of horizontal extension electric pushrod 32 extend container Special-purpose hanger
The periphery of frame 1, the top of vertical telescopic electric pushrod 33 is fixedly connected on the outer end of horizontal extension electric pushrod 32, high-power
Electric rotating machine 31 is fixedly connected on a certain F-TR locks 2 of container special hoisting bar 1, horizontal extension electric pushrod 32 the inner with
The rotation axis connection of high-power electric rotating machine 31, it is easy to flattened contracting electric pushrod 32 to rotate horizontally positioning, camera 4 is fixed on vertical
The bottom of straight telescopic electric push rod 33；The horizontal range towards horizontal side is fixed with the bottom of vertical telescopic electric pushrod 33
Detection sensor 6 and vertical range detection sensor 7 downward, on all F-TR locks 2 of container special hoisting bar 1
It is provided with travel switch 8, horizontal range detection sensor 6, vertical range detection sensor 7, travel switch 8, high-power rotation
Motor 31, the drive mechanism of horizontal extension electric pushrod 32, the drive mechanism of vertical telescopic electric pushrod 33, camera 4 with
Controller 5 connects.
Wherein, a certain F-TR locks 2 of container special hoisting bar of manipulator retractor device 3 are fixedly connected with adjacent to container
9 indicate the one side 12 of case number (CN), and manipulator retractor device 3 is fixedly connected on the lateral wall of corresponding F-TR locks 2, and neighbouring
Another F-TR locks 2 that container 9 indicates the one side 12 of case number (CN) are connected with the flexible dress of manipulator relative to a certain F-TR locks 2
Put 3 lateral wall.
The power supply of the drive mechanism of horizontal extension electric pushrod 32 and the drive mechanism of vertical telescopic electric pushrod 33 is logical
Waterproof aviation plug 34 is crossed to access；Warning device 11 is connected with controller 5.
A kind of automatic cabinet lifting case number (CN) takes pictures the control method of identification device, first container special hoisting bar 1
The connection corresponding with all F-TR locked grooves 10 of container 9 of all F-TR locks 2, the now contact closure of travel switch 8, controller 5
After the signal for receiving the contact closure of travel switch 8, gathered with reference to horizontal range detection sensor 6, vertical range detection sensor 7
Signal, it is determined whether stretch out manipulator retractor device 3 and simultaneously carry out identification of taking pictures；When horizontal range detection sensor 6 detects
There are barrier 13 or/and vertical range detection sensor 6 to detect machine in 5 meters of the horizontal range that manipulator retractor device 3 is set
When having barrier 13 in 5 meters of the vertical range of the lower section of tool hand retractor device 3 setting, the not driving manipulator retractor device 3 of controller 5
Stretched out；Do not hinder when horizontal range detection sensor 6 is detected in 5 meters of the horizontal range of the setting of manipulator retractor device 3
Thing 13 or vertical range detection sensor 7 is hindered to detect and do not hinder in 5 meters of the vertical range of the lower section of manipulator retractor device 3 setting
When hindering thing 13, the driving manipulator retractor device 3 of controller 5 is horizontal and vertical to be extended downwardly from, when manipulator retractor device 3 has stretched
Cheng Hou, controller 5 control video camera 4 to carry out container number and taken pictures identification, and after the completion of taking pictures, the driving manipulator of controller 5 is stretched
Compression apparatus 3 is retracted, and is completed a case number (CN) and is taken pictures identification process.
When manipulator retractor device 3 is horizontal and vertical to be extended downwardly from, horizontal range detection sensor 6 detects machine
There are barrier 13, vertical range detection sensor 7 to detect that manipulator is stretched in 5 meters of the horizontal range that tool hand retractor device 3 is set
When having barrier 13 or/and the separation disconnection of travel switch 8 in 5 meters of the vertical range of the lower section of compression apparatus 3 setting, controller 5 drives
The fast retractile of manipulator retractor device 3 and by warning device 11 carry out warning reminding manipulator be force withdraw.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
- The identification device 1. a kind of automatic cabinet lifting case number (CN) is taken pictures, it is characterised in that：Include and be fixedly connected on container Manipulator retractor device on a certain F-TR locks of special hoisting bar, it is fixed on manipulator retractor device and is used for container number Take pictures the camera and controller of identification；Described manipulator retractor device includes horizontal extension electric pushrod and vertical Telescopic electric push rod, the outer end of horizontal extension electric pushrod extend the periphery of container special hoisting bar, and vertical telescopic is electronic to be pushed away The top of bar is fixedly connected on the outer end of horizontal extension electric pushrod, and the inner of horizontal extension electric pushrod is fixedly connected on collection Case on a certain F-TR locks of special hoisting bar, described camera is fixed on the bottom of vertical telescopic electric pushrod；Described hangs down The horizontal range detection sensor towards horizontal side and downward vertical are fixed with the bottom of straight telescopic electric push rod Distance detection sensor, travel switch, described water are provided with all F-TR locks of described container special hoisting bar Flat distance detection sensor, vertical range detection sensor, travel switch, the drive mechanism, vertical of horizontal extension electric pushrod The drive mechanism of telescopic electric push rod, camera are connected with controller.
- The identification device 2. a kind of automatic cabinet lifting case number (CN) according to claim 1 is taken pictures, it is characterised in that：It is fixed The a certain F-TR locks of container special hoisting bar for being connected with described manipulator retractor device indicate the one of case number (CN) adjacent to container Side, and described manipulator retractor device is fixedly connected on the lateral wall of corresponding F-TR locks, and neighbouring container indicates Another F-TR locks of the one side of case number (CN) are connected with the lateral wall of manipulator retractor device relative to a certain F-TR locks.
- The identification device 3. a kind of automatic cabinet lifting case number (CN) according to claim 1 is taken pictures, it is characterised in that：It is described Manipulator retractor device also include the high-power electric rotating machine being connected with controller, described high-power electric rotating machine is fixed It is connected on a certain F-TR locks of container special hoisting bar, the inner and rotation of high-power electric rotating machine of horizontal extension electric pushrod Rotating shaft connects.
- The identification device 4. a kind of automatic cabinet lifting case number (CN) according to claim 1 is taken pictures, it is characterised in that：It is described The drive mechanism of horizontal extension electric pushrod and the power supply of drive mechanism of vertical telescopic electric pushrod pass through waterproof aviation Plug accesses.
- The identification device 5. a kind of automatic cabinet lifting case number (CN) according to claim 1 is taken pictures, it is characterised in that：It is described Controller on be connected with warning device.
- The control method of identification device 6. a kind of automatic cabinet lifting case number (CN) according to claim 1 is taken pictures, it is special Sign is：All F-TR locks of container special hoisting bar and all F-TR locked grooves of container are corresponding first connects, and now goes Journey switch contact closes, after controller receives the signal of travel switch contact closure, with reference to horizontal range detection sensor, vertically The signal of distance detection sensor collection, it is determined whether stretch out manipulator retractor device and carry out identification of taking pictures；Work as horizontal range Detection sensor, which is detected in the horizontal range of manipulator retractor device setting, barrier or/and vertical range detection sensor Detect when having barrier in the vertical range of setting below manipulator retractor device, controller not driving manipulator retractor device Stretched out；When horizontal range detection sensor detect manipulator retractor device setting horizontal range in do not have barrier or Vertical range detection sensor detected when not having barrier in the vertical range of setting below manipulator retractor device, controller Driving manipulator retractor device is horizontal and vertical to be extended downwardly from, and after the completion of manipulator retractor device is flexible, controller control is taken the photograph Camera carries out container number and taken pictures identification, and after the completion of taking pictures, controller driving manipulator retractor device is retracted, case of completion Number take pictures identification process.
- The control method of identification device 7. a kind of automatic cabinet lifting case number (CN) according to claim 6 is taken pictures, it is special Sign is：When described manipulator retractor device is horizontal and vertical to be extended downwardly from, the detection of horizontal range detection sensor There are barrier, vertical range detection sensor to detect the flexible dress of manipulator in the horizontal range of manipulator retractor device setting Putting in the vertical range of lower section setting has barrier or/and travel switch to separate when disconnecting, the flexible dress of controller driving manipulator It is to force to withdraw to put fast retractile and carry out warning reminding manipulator by warning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710723599.5A CN107364795B (en) | 2017-08-22 | 2017-08-22 | A kind of automatic cabinet lifting case number (CN) is taken pictures identification device and its control method |
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| CN201710723599.5A CN107364795B (en) | 2017-08-22 | 2017-08-22 | A kind of automatic cabinet lifting case number (CN) is taken pictures identification device and its control method |
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| CN107364795A true CN107364795A (en) | 2017-11-21 |
| CN107364795B CN107364795B (en) | 2019-07-05 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109447075A (en) * | 2018-09-07 | 2019-03-08 | 深圳清华大学研究院 | A kind of container number identifying system and method |
| CN109941885A (en) * | 2019-03-07 | 2019-06-28 | 无锡顶视科技有限公司 | A kind of container number candid photograph and identification device and its method based on telescopic arm |
| CN111232841A (en) * | 2020-01-21 | 2020-06-05 | 西安理工大学 | Container safety unlocking monitoring device based on diagonal parallel observation |
| CN112158732A (en) * | 2020-10-22 | 2021-01-01 | 上海海事大学 | Folding connecting rod mechanism of container safety hoisting monitoring system |
| CN112213321A (en) * | 2020-09-15 | 2021-01-12 | 格力电器（武汉）有限公司 | Visual inspection apparatus and system |
| CN112960552A (en) * | 2021-02-26 | 2021-06-15 | 三一海洋重工有限公司 | Container number identification device and method and container transportation system |
| CN117775981A (en) * | 2023-03-03 | 2024-03-29 | 成都畅越机械工程有限公司 | On-line detection method suitable for safe unlocking of container positioning lock head |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI20207046A1 (en) * | 2020-03-09 | 2021-09-10 | Samoani Oy | Device and method for recording and scanning container |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109447075A (en) * | 2018-09-07 | 2019-03-08 | 深圳清华大学研究院 | A kind of container number identifying system and method |
| CN109941885A (en) * | 2019-03-07 | 2019-06-28 | 无锡顶视科技有限公司 | A kind of container number candid photograph and identification device and its method based on telescopic arm |
| CN109941885B (en) * | 2019-03-07 | 2024-07-26 | 上海安维尔信息科技股份有限公司 | Container number snapshot and recognition device and method based on telescopic arm |
| CN111232841A (en) * | 2020-01-21 | 2020-06-05 | 西安理工大学 | Container safety unlocking monitoring device based on diagonal parallel observation |
| CN112213321A (en) * | 2020-09-15 | 2021-01-12 | 格力电器（武汉）有限公司 | Visual inspection apparatus and system |
| CN112158732A (en) * | 2020-10-22 | 2021-01-01 | 上海海事大学 | Folding connecting rod mechanism of container safety hoisting monitoring system |
| CN112960552A (en) * | 2021-02-26 | 2021-06-15 | 三一海洋重工有限公司 | Container number identification device and method and container transportation system |
| CN117775981A (en) * | 2023-03-03 | 2024-03-29 | 成都畅越机械工程有限公司 | On-line detection method suitable for safe unlocking of container positioning lock head |
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| CN107364795B (en) | 2019-07-05 |
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